Scribd
Upload
13K views8 pages

RTCM 2.1 About RTCM

RTCM is the Radio Technical Commission for Maritime Services, which sets standards for differential GPS corrections. RTCM SC-104 defines standard data formats for transmitting GPS corrections from reference stations to rovers. The RTCM SC-104 standard has evolved through several versions to support more signals and network RTK. RTCM data includes correction messages, station parameters, and antenna information in a compact binary format to enable real-time differential GPS and RTK applications.

Uploaded by

Mohd Shahrir
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
13K views8 pages

RTCM 2.1 About RTCM

RTCM is the Radio Technical Commission for Maritime Services, which sets standards for differential GPS corrections. RTCM SC-104 defines standard data formats for transmitting GPS corrections from reference stations to rovers. The RTCM SC-104 standard has evolved through several versions to support more signals and network RTK. RTCM data includes correction messages, station parameters, and antenna information in a compact binary format to enable real-time differential GPS and RTK applications.

Uploaded by

Mohd Shahrir
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
You are on page 1/ 8

RTCM

2.1 About RTCM

RTCM is stand for Radio Technical Commission for Maritime Services. RTCM data format that related to
GPS corrections is called RTCM SC-104 data format. It is a standard data format for differential
pseudorange corrections took hold fairly quickly and is currently in wide use. Users of Real-Time-
Kinematic (RTK) carrier phase positioning systems also have recognized the usefulness of such systems.
But because real-time carrier phase positioning systems were developed later than pseudorange
systems, carrier phase infrastructure systems are only now coming into widespread use. In addition,
various special committees set the standards for International maritime radio navigation and radio
communication especially in GPS application and Electronic Chart.

Figure 1

The correction of RTCM that being used in DGPS system especially in Kau Yi Cau DGPS services.

 Radio transmission
 The corrections are formatted to RTCM 2.0 and broadcast via Radio antenna
 The correction is formatted to RTCM 2.0 and broadcasted through radio antenna.
Figure 2

2.2 RTCM SC-104

RTCM SC-104 also known as RTCM Special Committee (SC) 104 is the one that concerned on GPS
correction signal. It is a compact binary data that is good for real time processing. It is also a
transmission of GPS correction from GPS reference station to GPS Rover. Mostly it is used for DGPS/RTK
surveys. There are several version of RTCM SC-104. The versions are:

 RTCM-2.0 (Code correction ->DGPS)


 RTCM-2.1 (Code + Phase correction -> RTK)
 RTCM 2.2 ( …+ GLONASS )
 RTCM 2.3 ( ….+ GPS Antenna Definition)
 RTCM 3.0 (….+ Network RTK & GNSS)

The RTCM SC-104 has defined a tentative set of messages for carrier phase positioning systems in
(Version 2.1), and is now working on RTCM SC-104 V.2.0 a
revised version of these messages in
RTCM SC-104 recommended standards Version 2.2. Two pairs of RTK messages are defined in the RTCM
SC-104 standard, with the idea (but not the requirement) that each pair of messages would be used
together. The message types 18 and 19 contain raw carrier phase and pseudorange measurement
information. Message types 20 and 21 contain information based on the same measurements, but
formatted as corrections to the carrier phase and pseudorange measurements, in a manner similar to
the RTCM Type 1 pseudorange correction message.
2.3 RTCM Data Structure

Each data record contains several message types for various contents.

 Message 1, Message2…. Message N


 Each message comprises header and body
 Header: message type, time, length of message,
 Body: data for every data type

2.4 RTCM Message Type

RTCM Message Type Description


1 Differential GPS Correction
2 Delta Differential GPS Correction
3 GPS Reference Station Parameters
4 Reference Station Datum
5 GPS Constellation Health
6 GPS Null Name
7 DGPS Beacon Almanac
8 Pseudolite Almanac
9 GPS Partial Correction Set
10 P-Code Differential Correction
11 C/A Code, L1, L2 Delta Correction
12 Pseudolite Station Parameter
13 Ground Transmitter Parameter
14 GPS Time of Week
15 Ionospheric Delay Message
16 GPS Special Message
17 GPS Ephemerides
18 RTK Uncorrected Carrier Phases
19 RTK Uncorrected Pseudorange
20 RTK Carrier Phase Corrections
21 RTK Pseudorange Corrections
22 Extended Reference Station Parameters
23 Antenna Type Definition
24 Reference Station: Antenna Reference Point (ARP) Parameter
25,26 Undefined
27 Extended GPS Radio Beacon Almanac
28..30 Undefined
31 Differential GLONASS Corrections
32 Differential GLONASS Reference Station
33 GLONASS Constellation Health
34 GLONASS Partial Differential Correction Set
GLONASS Null Name (N<=1)
35 GLONASS Radio Beacon Almanac
36 GLONASS Special Message
37 GNSS System Time Offset
38..58 Undefined
59 Proprietary Message
60..63 Multipurpose Usage

2.5 RTCM Data Transmission (Real Time)

Global System for Mobile Communication (GSM)


 GSM modem and SIM Card with the current services
 Charge with the continuous time.

General Packet Radio Service (GPRS)


 An upgrade to GSM
 Connect to the mobility network to the IP network
 Charge with the total data download but not in continuous time
 Cheaper than GSM
Figure 3

2.5 RTCM Version 3.0

It is a new data structure developed for network RTK applications. It consist new signals which are L2C
and L5. Besides that, it is also one of the GNSS system data that has a compact data structure.

 RTCM 2.0 – 0.5 kbit / sec. (DGPS)


 RTCM 2.1-2.3 requires 5 kbit / sec (DGPS+RTK)
 RTCM 3.0.requires 2 kbit / sec

The four groups of RTCM 3.0 GNSS RTK messages (RTCM 2004) are:

Group Name Message Type Message Description


Observations 1001 L1-only GPS RTK Observables
1002 Extended L1-only GPS RTK Observables
1003 L1 & L2 GPS RTK Observables
1004 Extended L1 & L2 GPS RTK Observables
1005 L1 only GLONASS RTK Observables
1006 Extended L1-only GLONASS RTK Observables
1007 L1 & L2 GLONASS RTK Observables
1008 Extended L1 & L2 GPS RTK Observables
Station Coordinates 1009 Stationary RTK Reference Station ARP
1010 Stationary RTK Reference ARP with Antenna
Height
Antenna Description 1011 Antenna Descriptor
1012 Antenna Descriptor & Serial Number
Auxiliary Operation Information 1013 System Parameters

2.6 NovAtel RTK Rover Software


Figure 4

Basic assumptions:

 Base station position is transmitted.


 Measurement quality similar to NovAtel narrow correlation receivers.
 Full wavelength L2 carrier phase.
 Any unclear points in the Version 2.1 RTCM standard will follow the clarification in RTCM SC-104
Version 2.2

Phase I (base and rover software):

 RTCM SC-104 Version 2.1 type 20/21s used as a pair, with L1 pseudorange and carrier phase and
L2 carrier phase, all transmitted at the same rate. This is the set of messages used by the
German AdV system. Phase II(base and rover software): Phase I, plus
 RTCM SC-104 Version 2.2 type 18/19s, used as a pair.
 L1- only or L1/L2 for type 18/19s
 Processing of the messages at the rover occurring as often as pseudoranges are transmitted.
 Base station co-ordinate accuracy extended with proposed new message type 22.

Phase III: Phase II, plus

 The basic carrier phase positioning portion of the rover RTK system will run whenever a carrier
phase message is received (without requiring an accompanying pseudorange message).

Phase I has been implemented at this point, and Phase II is in the final stages of implementation and
test. Phase III will require some changes to the existing RTK positioning software, and will be
implemented at a later point in time bases the estimated clock offset of the base station receiver, in
seconds. It is defined here as the amount by which the local clock is ahead of GPS time. c is the speed
of light in meters per second. λ is the appropriate wavelength for L1 or L2 in meters. φ is the carrier
phase measurement in cycles, defined to have a sign which increases as the range to the satellite
increases. A is an arbitrary constant integer number of cycles chosen at the start of tracking to keep the
size of the correction small. ρ is the pseudorange measurement in meters. corrφ and corrρ are the
corrections transmitted in the type 20 and 21 messages, respectively. The corrections can be applied
directly to the measurements taken at the rover, rather than doing a difference between the base
station and rover measurements.

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy